CN104242595A - Stepper motor - Google Patents
Stepper motor Download PDFInfo
- Publication number
- CN104242595A CN104242595A CN201410271553.0A CN201410271553A CN104242595A CN 104242595 A CN104242595 A CN 104242595A CN 201410271553 A CN201410271553 A CN 201410271553A CN 104242595 A CN104242595 A CN 104242595A
- Authority
- CN
- China
- Prior art keywords
- stepping motor
- rotor
- motor
- solenoid coil
- electromagnetic brake
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004804 winding Methods 0.000 claims abstract description 23
- 230000015556 catabolic process Effects 0.000 claims description 2
- 230000001429 stepping effect Effects 0.000 description 23
- 230000008859 change Effects 0.000 description 5
- 230000036962 time dependent Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/24—Arrangements for stopping
- H02P8/30—Holding position when stopped
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
- H02K7/1021—Magnetically influenced friction brakes
- H02K7/1023—Magnetically influenced friction brakes using electromagnets
- H02K7/1025—Magnetically influenced friction brakes using electromagnets using axial electromagnets with generally annular air gap
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
- H02K37/24—Structural association with auxiliary mechanical devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P15/00—Arrangements for controlling dynamo-electric brakes or clutches
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/24—Arrangements for stopping
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
- H02K37/10—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type
- H02K37/12—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type with stationary armatures and rotating magnets
- H02K37/14—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type with stationary armatures and rotating magnets with magnets rotating within the armatures
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention discloses a stepper motor. The stepper motor has a rotor, a stator and an electro-magnetic brake capable of stoping the rotor. The rotor has permanent magnet rotor poles. The stator has at least 2 phase windings. The brake is electrically connected to the phasw windings and arranged to be released when at least one of the phase windings is energized.
Description
Technical field
The present invention relates to stepping motor, particularly there is the stepping motor of brake.
Background technology
Stepping motor is widely used in accurate location.Wish temporarily to keep the input power of the holding torque of target location to reduce or be zero, to realize low heat dissipation and low energy consumption.
In existing step motor actuator, holding torque is realized by mechanical friction mode (such as inefficient self-locking transmission gear or electromagnetic location torque etc.) usually.This kind of mechanism reduces obtainable Driving Torque or introduces electromagnetic torque fluctuation, has negative effect for low vibration dynamic operation.Therefore, contradict with the requirement of the current low-power to electromagnetism executive system, high efficiency and environmental protection.
The combination of motor and electromagnetic brake or solenoid brake has been there is in prior art.But the driving of brake needs extra electronic component and control line, this can increase cost and the complexity of actuator.The stepping motor with mechanical brake is not also widely known by the people.Add in motor in step the problem increasing electromagnetic brake and be how motor prevents brake from producing and drive when exporting low speed displacement.Can solve this problem by using complicated electronic circuit, but this will make motor too expensive concerning great majority application.
Summary of the invention
The present invention aims to provide a kind of high-efficient step motor being integrated with brake, uses simple control circuit to make this brake make rotor stop when stepping motor no power.
The stepping motor of embodiments of the invention comprises rotor, stator and can make the electromagnetic brake of rotor stop, and described rotor has permanent-magnet pole, and described stator has at least two phase windings; Wherein, described electromagnetic brake is electrically connected with described at least two phase windings and removes the braking to described rotor when at least one phase winding is energized.
Preferably, described electromagnetic brake comprises solenoid coil, frictional disk and spring, and described spring forces described frictional disk and rotor contact, makes described frictional disk move to the position not contacting rotor during described solenoid coil energising.
Preferably, each phase winding of described stator is electrically connected to a rectifier respectively to power to described solenoid coil.
Preferably, each rectifier connects with corresponding phase winding through resistance.
Preferably, described rectifier is full-wave rectifier.
Preferably, the output of each rectifier is in parallel with described solenoid coil, and be connected to the Capacitance parallel connection of solenoid coil.
Preferably, the twice of the number of phases of described motor is equal to or less than for the line number of the control line of operating electrical machines.
Preferably, for driving the electronic component of described electromagnetic brake to be integrated in described motor.
Preferably, the holding torque that described brake provides is not less than the breakdown torque produced when described motor is energized with normal running conditions.
Preferably, during described brake guaranties to rotor non-resistance.
Stepping motor according to the present embodiment provides the electromagnetic brake with ball bearing made using, is preferably solenoid brake, makes rotor stop, make Rotor free movement during energising when solenoid coil is not energized.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, by the specific embodiment of the present invention describe in detail, will make technical scheme of the present invention and other beneficial effects apparent.
Fig. 1 is the profile of the two-phase stepping motor with solenoid brake when non-"on" position according to one embodiment of the invention;
Fig. 2 is the profile of stepping motor when "on" position in Fig. 1;
Fig. 3 is a kind of preferred circuit schematic diagram according to two-phase stepping motor of the present invention in Fig. 1;
Fig. 4 is the drive singal figure of stepping motor under full stepping bipolar voltage deviation pattern in Fig. 1;
Fig. 5 is the corresponding current response diagram recorded at phase winding place;
Fig. 6 is the map of current of motor solenoid brake under full step mode;
Fig. 7 is the motor current signal figure that phase winding place records when running under micro-stepping regime;
Fig. 8 is the map of current of motor solenoid brake when running under micro-stepping regime.
Embodiment
Fig. 1 is the profile of two-phase stepping motor under non-"on" position according to one embodiment of the invention.Described stepping motor 10 comprises stator 12, rotor 14 and electromagnetic brake (being solenoid brake in the present embodiment) 16.Stator 12 has two phase assemblies 18, and each phase assembly 18 comprises the phase winding 20 be wrapped on coil holder 22, and this phase winding 20 is located between a pair pole plate 24.Two phase assemblies 18 are spaced by pad 26 in the axial direction.
Rotor 14 is located in the accommodation space that two phase assembly 18 inside define.Rotor 14 comprises and turns core 40 and rotating shaft 44.Turn core 40 in hollow cylindrical, one axial end has the wheel hub 42 radially extended internally out.Rotating shaft 44 is fixed to the wheel hub 42 turning core 40 by connector 46.Turning core 40 is preferably molded permanent magnet, certainly can also adopt other forms, such as, comprise the support portion of hollow cylindrical and installing or be labelled to the annular magnet of support portion.Turn core 40 and form rotor permanent magnet pole.Rotating shaft 44 is by the rotatable support of bearing 32.Bearing 32 is installed in bearing pedestal 28.Bearing pedestal 28 stretch into turn core 40 hollow bulb in, and form a part for electric machine casing or housing.
Solenoid brake 16 comprises the lid 60 being fixed to stator 12, the solenoid coil 62 being fixed to lid 60, spring 64 and frictional disk 66.Frictional disk 66 can move vertically but can not rotate in lid 60.Frictional disk 66 can be supported rotor 14 and rotate to stop rotor 14 under spring 64 is oppressed.In the present embodiment, directly contact with the axial end 48 turning core 40 when frictional disk 66 supports rotor 14.Spring 64 to be set on the projection 68 in lid 60 thus to be located.Frictional disk 66 has magnetic, is arranged in the magnetic field that solenoid coil 62 produces.Produce suction to frictional disk 66 when solenoid coil 62 is energized, frictional disk 66 is inhaled to solenoid coil 62 by the restoring force that this suction overcomes spring 64.In using, do not produce magnetic field when solenoid coil 62 is not energized, as shown in Figure 1, frictional disk 66 supports rotor 14 under the compressing of spring 64, stops rotor 14 to rotate.When solenoid coil 62 is energized, as shown in Figure 2, frictional disk 66 is inhaled and is made it no longer contact with rotor 14 to coil 62 by the magnetic field that coil 62 produces, and such rotor 14 can rotate freely.
Be described around the relation between pipeline circle and motor stator winding below in conjunction with Fig. 3 and Fig. 4-8 pairs of spiral shells.Power supply is supplied to each phase winding through a pair phase input terminal 80.R1 and L1 represents first-phase winding, R2 and L2 represents second-phase winding.The input power of each phase winding is supplied to the rectifier 82 of a correspondence simultaneously.Rectifier 82 is preferably full-wave rectifier.Understandable, also can adopt the rectifier (as half-wave rectifier) of other type.The output of each rectifier 82 is connected with the solenoid coil 62 (being represented by Rs with Ls) of brake 16.Optionally, electric capacity 84 is in parallel with solenoid coil 62 to reduce current fluctuation, thus the input of smoothing coil 62.Each rectifier 82 is connected to phase input terminal 80 by resistance 86, for decoupling zero or impedance matching.
Fig. 4 illustrates the time dependent chart of voltage signal Va and Vb of the full stepping bipolar voltage deviation pattern being applied to phase input terminal.Described voltage signal is square-wave signal, has the cadence of per second 100 full steppings (i.e. every stepping 10ms).
Fig. 5 illustrates the time dependent chart of current response Ia and Ib that phase winding place records.
When Fig. 6 illustrates that the signal in Fig. 4 is applied to motor, when electric motor starting (i.e. time t=0), the time dependent chart of electric current of solenoid coil.By selecting suitable circuit element (inductance, resistance, electric capacity etc.), current rise time can be made enough short compared with motor speed with the dynamic response of brake.
The time dependent chart of electric current when Fig. 7 illustrates that motor runs with micro-stepping regime (quasi-sinusoidal current), wherein the ratio of time shaft becomes the twice in Fig. 5.
When Fig. 8 illustrates that motor runs under micro-stepping regime as shown in Figure 7, at the time dependent chart of electric current of electric motor starting (namely during time t=0) solenoid coil, wherein the ratio of time shaft becomes the twice in Fig. 6.
The running control circuit of the electromagnetic brake of stepping motor provided by the invention is simple and cost is lower.
The present invention has the following advantages:
By being integrated in the housing of stepping motor by electromagnetic brake, make motor closely, and motor itself can not be subject to the restriction of usual friction characteristic (as increased friction with the gear geometry preventing motor from reversing).Like this, do not consider that motor reverses, by using more high efficiency gear, the efficiency of whole motor can significantly increase.Friction-type gear geometry is more responsive for the change of the change associated temperature of maximum confining force and electric efficiency.Use low slip gear also can reduce the frictional heat of gear wear and gear.Like this, holding torque is comparatively stable and can not temperature influence.
The stepping motor of not powering under default situations does not rotate.Therefore, even if when as installed or producing powerful and strong vibration in transportation, factory preset position also can not change.This means that the installation setup times needed for production line and spot replace is less.
By the power adjustable confining force that adjustment rubbing surface (material or shape) and spring apply.
Further, the control of brake can be realized by plain mode by a small amount of electronic component, thus reduces costs, and allows control section to be integrated in electric machine casing.Owing to not needing extra electric wire to carry out control brake, simple control also means that motor of the present invention is substantially same with the motor of brakeless device and treats.
The above; for the person of ordinary skill of the art; can make other various corresponding change and distortion according to technical scheme of the present invention and technical conceive, and all these change and be out of shape the protection range that all should belong to the claim appended by the present invention.
Such as, except two-phase induction motor, the present invention is suitable for too for polyphase synchronous machine.
Again such as, for preventing the parameter of useable electric moter and brake components from cannot meet the braking response time more faster than motor stepping period (open and close should occur before action), before beginning turnaround sequence, allow release brake in the initial motor excitation of first stepping.This can be a part for speed ramp algorithm.
Claims (10)
1. a stepping motor, comprise rotor, stator and can make the electromagnetic brake of rotor stop, described rotor has permanent-magnet pole, and described stator has at least two phase windings; It is characterized in that, described electromagnetic brake is electrically connected with described at least two phase windings and removes the braking to described rotor when at least one phase winding is energized.
2. stepping motor as claimed in claim 1, it is characterized in that, described electromagnetic brake comprises solenoid coil, frictional disk and spring, and described spring forces described frictional disk and rotor contact, makes described frictional disk move to the position not contacting rotor during described solenoid coil energising.
3. stepping motor as claimed in claim 1, is characterized in that, each phase winding of described stator is electrically connected to a rectifier respectively to power to described solenoid coil.
4. stepping motor as claimed in claim 3, it is characterized in that, each rectifier connects with corresponding phase winding through resistance.
5. stepping motor as claimed in claim 3, it is characterized in that, described rectifier is full-wave rectifier.
6. stepping motor as claimed in claim 3, it is characterized in that, the output of each rectifier is in parallel with described solenoid coil, and be connected to the Capacitance parallel connection of solenoid coil.
7. the stepping motor as described in any one of claim 1 to 6, is characterized in that, the line number for the control line of operating electrical machines is equal to or less than the twice of the number of phases of described motor.
8. the stepping motor as described in any one of claim 1 to 6, is characterized in that, is integrated in described motor for driving the electronic component of described electromagnetic brake.
9. the stepping motor as described in any one of claim 1 to 6, is characterized in that, the holding torque that described electromagnetic brake provides is not less than the breakdown torque produced when described motor is energized with normal running conditions.
10. the stepping motor as described in any one of claim 1 to 6, is characterized in that, to rotor non-resistance during described electromagnetic brake energising.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1311035.8 | 2013-06-20 | ||
| GB1311035.8A GB2515333A (en) | 2013-06-20 | 2013-06-20 | Stepper motor with integrated brake and drive circuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104242595A true CN104242595A (en) | 2014-12-24 |
Family
ID=48950224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410271553.0A Pending CN104242595A (en) | 2013-06-20 | 2014-06-17 | Stepper motor |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US20140375151A1 (en) |
| JP (1) | JP2015006126A (en) |
| KR (1) | KR20140147776A (en) |
| CN (1) | CN104242595A (en) |
| DE (1) | DE102014108510A1 (en) |
| GB (1) | GB2515333A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239893A (en) * | 2018-03-09 | 2019-09-17 | 中煤张家口煤矿机械有限责任公司 | A kind of conveyer multifunctional permanent-magnet frequency changing driving system |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015013290A1 (en) * | 2015-10-15 | 2017-04-20 | Sew-Eurodrive Gmbh & Co Kg | A drive comprising an electric motor fed by a converter via first electrical lines and a brake and method for operating a drive |
| CN105205285B (en) * | 2015-10-20 | 2020-07-17 | 河海大学 | BSRM stator modal finite element modeling method considering winding |
| CN105811652A (en) * | 2016-04-11 | 2016-07-27 | 上海度哥驱动设备有限公司 | Installation structure of permanent-magnet brake for motor |
| CN107539413A (en) * | 2017-10-10 | 2018-01-05 | 南京康尼精密机械有限公司 | Brake motor in end-tooth |
| US11289972B2 (en) * | 2017-11-21 | 2022-03-29 | Genesis Robotics & Motion Technologies Canada, Ulc | Electric motor with integrated brake |
| DE102020213640A1 (en) * | 2020-10-29 | 2022-05-05 | Maha Maschinenbau Haldenwang Gmbh & Co. Kg | Unlocking an electromagnetic brake of a motor |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB959348A (en) * | 1961-09-12 | 1964-05-27 | Gen Dynamics Corp | Brakemotors |
| US4315171A (en) * | 1977-05-23 | 1982-02-09 | Ernest Schaeffer | Step motors |
| JPS5921249A (en) * | 1982-07-22 | 1984-02-03 | Nippon Densan Kk | Motor |
| CN2807586Y (en) * | 2005-06-23 | 2006-08-16 | 河南省远东起重建筑机械有限公司 | Solid rotor brake motor |
| CN200969542Y (en) * | 2006-06-21 | 2007-10-31 | 河南省华中起重机有限公司 | Brake device for asynchronous motor |
| CN101262164A (en) * | 2007-03-07 | 2008-09-10 | 株式会社模雅特 | Step motor |
| JP2009177905A (en) * | 2008-01-23 | 2009-08-06 | Shinano Kenshi Co Ltd | Electric motor with electromagnetic brake |
| JP2011190918A (en) * | 2010-03-17 | 2011-09-29 | Yaskawa Electric Corp | Brake device and rotating electric machine |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2733393A (en) * | 1956-01-31 | Dynamic braking hoist control | ||
| US2870388A (en) * | 1957-06-11 | 1959-01-20 | Ind Controls Corp | Motor control circuit |
| DE1488679C3 (en) * | 1965-06-19 | 1974-07-04 | Philips Patentverwaltung Gmbh, 2000 Hamburg | Stepper motor |
| NL6603421A (en) * | 1966-03-16 | 1967-09-18 | ||
| JPH0297300A (en) * | 1988-09-30 | 1990-04-09 | Aisin Seiki Co Ltd | Portable type engine generator |
| JP3724026B2 (en) * | 1995-04-24 | 2005-12-07 | 株式会社デンソー | Synchronous power generator for vehicle and excitation control method thereof |
| US5892341B1 (en) * | 1997-10-29 | 2000-06-27 | Rexnord Corp | Quick set electric motor brake control |
| US6642636B2 (en) * | 2002-04-02 | 2003-11-04 | Delphi Technologies, Inc. | Stepper motor driving assembly with positive brake |
-
2013
- 2013-06-20 GB GB1311035.8A patent/GB2515333A/en not_active Withdrawn
-
2014
- 2014-06-17 DE DE102014108510.8A patent/DE102014108510A1/en not_active Withdrawn
- 2014-06-17 CN CN201410271553.0A patent/CN104242595A/en active Pending
- 2014-06-19 US US14/309,359 patent/US20140375151A1/en not_active Abandoned
- 2014-06-20 KR KR1020140075722A patent/KR20140147776A/en not_active Application Discontinuation
- 2014-06-20 JP JP2014127154A patent/JP2015006126A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB959348A (en) * | 1961-09-12 | 1964-05-27 | Gen Dynamics Corp | Brakemotors |
| US4315171A (en) * | 1977-05-23 | 1982-02-09 | Ernest Schaeffer | Step motors |
| JPS5921249A (en) * | 1982-07-22 | 1984-02-03 | Nippon Densan Kk | Motor |
| CN2807586Y (en) * | 2005-06-23 | 2006-08-16 | 河南省远东起重建筑机械有限公司 | Solid rotor brake motor |
| CN200969542Y (en) * | 2006-06-21 | 2007-10-31 | 河南省华中起重机有限公司 | Brake device for asynchronous motor |
| CN101262164A (en) * | 2007-03-07 | 2008-09-10 | 株式会社模雅特 | Step motor |
| JP2009177905A (en) * | 2008-01-23 | 2009-08-06 | Shinano Kenshi Co Ltd | Electric motor with electromagnetic brake |
| JP2011190918A (en) * | 2010-03-17 | 2011-09-29 | Yaskawa Electric Corp | Brake device and rotating electric machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239893A (en) * | 2018-03-09 | 2019-09-17 | 中煤张家口煤矿机械有限责任公司 | A kind of conveyer multifunctional permanent-magnet frequency changing driving system |
Also Published As
| Publication number | Publication date |
|---|---|
| GB201311035D0 (en) | 2013-08-07 |
| JP2015006126A (en) | 2015-01-08 |
| DE102014108510A1 (en) | 2014-12-24 |
| GB2515333A (en) | 2014-12-24 |
| US20140375151A1 (en) | 2014-12-25 |
| KR20140147776A (en) | 2014-12-30 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141224 |